Methods circuits devices systems and associated computer executable code for video feed processing

ABSTRACT

Disclosed are methods, circuits, devices, systems and associated executable code for multi factor image feature registration and tracking, wherein utilized factors include both static and dynamic parameters within a video feed. Assessed factors may originate from a heterogeneous set of sensors including both video and audio sensors. Acoustically acquired scene information may supplement optically acquired information.

FIELD OF THE INVENTION

The present invention generally relates to the fields of computervision, image and video analysis and scene capture and registration.More specifically, some embodiments relate to methods, circuits,devices, systems and associated executable code for multi factor imagefeature registration and tracking.

BACKGROUND

Video content analysis (also Video content analytics, VCA) is thecapability to automatically analyze video to detect and determinetemporal and spatial events. As such, it can be seen as the automatedequivalent of the biological visual cortex.

This technical capability is used in a wide range of domains, includingentertainment, health-care, retail, automotive, transport, homeautomation, safety and security. The algorithms can be implemented assoftware on general purpose machines, or as hardware in specializedvideo processing units.

Many different functionalities can be implemented in VCA. Video MotionDetection is one of the simpler forms where motion is detected withregard to a fixed background scene. More advanced functionalitiesinclude video tracking and egomotion estimation.

Based on the internal representation that VCA generates in the machine,it is possible to build other functionalities, such as identification,behavior analysis or other forms of situation awareness.

VCA relies on good input video, so it is often combined with videoenhancement technologies such as video denoising, image stabilization,unsharp masking and super-resolution.

Still, there remains a need, in the fields of computer vision, image andvideo analysis, and scene capture and registration, for technologiesthat may utilize multi factor image feature registration and tracking,including both static and dynamic parameters within a video feed, andoptionally acoustically acquired scene information.

SUMMARY OF THE INVENTION

The present invention includes methods, circuits, devices, systems andassociated executable code for multi factor image feature registrationand tracking, wherein utilized factors include both static and dynamicparameters within a video feed. According to some embodiments, assessedfactors may originate from a heterogeneous set of sensors including bothvideo and audio sensors. According to yet further embodiments,acoustically acquired scene information may supplement opticallyacquired information.

A ‘video feed’, in accordance with embodiments of the present invention,may relate to any live or real-time video streaming, a pre-recordedvideo feed, and/or to any set of consecutive still images.

According to some embodiments of the present invention, a system formulti factor image feature registration and tracking may comprise: (1) aCamera Type Identification Module for identifying whether the source ofa received video feed is a static or a dynamic camera; (2) a LensDistortion Compensation Module for digitally correcting video feed imagedistortion; (3) a Camera Position Module for identifying the positionand orientation of the camera within a scene; (4) a 3-dimensional(hereinafter: 3D) Trajectory Tracking Module for assigning orientationvectors to dynamic element(s) in the scene and/or to the scene camera;(5) a Dynamic Element Analysis Module for identifying and trackingdynamic elements within the scene; (6) a Static Scene FeaturesRegistration Module for registering static elements in the scene, basedon the motion of the tracked dynamic element(s) and/or based oninteractions between the tracked dynamic element(s) and the staticelements in the scene and/or for building a relative depth scene basedon the registration of images in the scene; and/or (7) a BehaviorCorrelation Module for correlating detected/measured/extracted motiondynamics of the dynamic element(s) in the scene to characterized actionsand/or for recognizing specific human individuals based on their motiondynamic characteristics data/profile/records.

According to some embodiments, the system may further comprise: (8) anAcoustic Scene Mapping Module for utilizing scattered acousticsplash-back to further map the scene.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features, and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanying drawings in which:

FIG. 1A shows a high level illustration of an exemplary scene captureand characterization system, in accordance with some embodiments of thepresent invention;

FIG. 1B is a flowchart of the main steps executed by an exemplary scenecapture and characterization system, in accordance with embodiments ofthe present invention;

FIG. 2A shows a functional block diagram of an exemplary video feed orvideo stream processing engine adapted to characterize and optionallymeta-tag a video feed/stream, in accordance with embodiments of thepresent invention;

FIGS. 2B-2G show diagrams exemplifying the main steps executed by anexemplary video feed or video stream processing engine adapted tocharacterize and optionally meta-tag a video feed/stream, in accordancewith embodiments of the present invention;

FIG. 3A is a flowchart of the main steps of an exemplary imaging path(lens or other elements) distortion compensation method, in accordancewith embodiments of the present invention;

FIG. 3B shows exemplary effects of the exemplary distortion compensationmethod, including: raw image, image with lines indicating distortionbending vector in regions, calculated inverse bending vectors tocompensate, and clean and compensated image, in accordance withembodiments of the present invention;

FIG. 4 is a flowchart of the main steps of an exemplary static sceneelement (i.e. background) registration method, including: followingstraight lines, checking intersections with dynamic elements, anditeratively completing a 3D map from multiple images at differentperspectives, in accordance with embodiments of the present invention;

FIG. 5 is a flowchart of the main steps of an exemplary dynamic elementsdetection and tracking method within a video feed of a scene, and theidentification of the entity types and individuals to which the dynamicelements belong, in accordance with embodiments of the presentinvention;

FIG. 6 is a flowchart of the main steps of an exemplary motioncharacterization method, including the choosing/selection of an entityspecific motion to action table, in accordance with embodiments of thepresent invention;

FIG. 7A is a flowchart of the main steps of an exemplary acoustic splashback method, in accordance with embodiments of the present invention;

FIG. 7B shows diagrams exemplifying the main steps executed as part ofan exemplary acoustic splash back method, including: scene having soundoutput, scene having sound bouncing, detected return, and scene withitems tagged by estimated distance, in accordance with embodiments ofthe present invention; and

FIG. 8 is a flowchart of the main steps of an exemplary event distancedetection method, including: hearing an acoustic burst, looking atcorresponding video and counting a delta in offset between seeing theevent and hearing the event, in accordance with embodiments of thepresent invention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of some embodiments.However, it will be understood by persons of ordinary skill in the artthat some embodiments may be practiced without these specific details.In other instances, well-known methods, procedures, components, unitsand/or circuits have not been described in detail so as not to obscurethe discussion.

Unless specifically stated otherwise, as apparent from the followingdiscussions, it is appreciated that throughout the specificationdiscussions utilizing terms such as “processing”, “computing”,“calculating”, “determining”, or the like, may refer to the actionand/or processes of a computer or computing system, or similarelectronic computing device, that manipulate and/or transform datarepresented as physical, such as electronic, quantities within thecomputing system's registers and/or memories into other data similarlyrepresented as physical quantities within the computing system'smemories, registers or other such information storage, transmission ordisplay devices.

In addition, throughout the specification discussions utilizing termssuch as “storing”, “hosting”, “caching”, “saving”, or the like, mayrefer to the action and/or processes of ‘writing’ and ‘keeping’ digitalinformation on a computer or computing system, or similar electroniccomputing device, and may be interchangeably used. The term “plurality”may be used throughout the specification to describe two or morecomponents, devices, elements, parameters and the like.

Some embodiments of the invention, for example, may take the form of anentirely hardware embodiment, an entirely software embodiment, or anembodiment including both hardware and software elements. Someembodiments may be implemented in software, which includes but is notlimited to firmware, resident software, microcode, or the like.

Furthermore, some embodiments of the invention may take the form of acomputer program product accessible from a computer-usable orcomputer-readable medium providing program code for use by or inconnection with a computer or any instruction execution system. Forexample, a computer-usable or computer-readable medium may be or mayinclude any apparatus that can contain, store, communicate, propagate,or transport the program for use by or in connection with theinstruction execution system, apparatus, or device.

In some embodiments, the medium may be an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system (or apparatus ordevice) or a propagation medium. Some demonstrative examples of acomputer-readable medium may include a semiconductor or solid statememory, magnetic tape, a removable computer diskette, a random accessmemory (RAM), a read-only memory (ROM), a rigid magnetic disk, and anoptical disk. Some demonstrative examples of optical disks includecompact disk-read only memory (CD-ROM), compact disk-read/write(CD-R/W), and DVD.

In some embodiments, a data processing system suitable for storingand/or executing program code may include at least one processor coupleddirectly or indirectly to memory elements, for example, through a systembus. The memory elements may include, for example, local memory employedduring actual execution of the program code, bulk storage, and cachememories which may provide temporary storage of at least some programcode in order to reduce the number of times code must be retrieved frombulk storage during execution.

In some embodiments, input/output or I/O devices (including but notlimited to keyboards, displays, pointing devices, etc.) may be coupledto the system either directly or through intervening I/O controllers. Insome embodiments, network adapters may be coupled to the system toenable the data processing system to become coupled to other dataprocessing systems or remote printers or storage devices, for example,through intervening private or public networks. In some embodiments,modems, cable modems and Ethernet cards are demonstrative examples oftypes of network adapters. Other suitable components may be used.

Functions, operations, components and/or features described herein withreference to one or more embodiments, may be combined with, or may beutilized in combination with, one or more other functions, operations,components and/or features described herein with reference to one ormore other embodiments, or vice versa.

The present invention includes methods, circuits, devices, systems andassociated executable code for Multi factor image feature registrationand tracking, wherein utilized factors include both static and dynamicparameters within a video feed. According to some embodiments, assessedfactors may originate from a heterogeneous set of sensors including bothvideo and audio sensors. According to yet further embodiments,acoustically acquired scene information may supplement opticallyacquired information.

A ‘video feed’, in accordance with embodiments of the present invention,may relate to any live or real-time video streaming, a pre-recordedvideo feed, and/or to any set of consecutive still images.

According to some embodiments of the present invention, a system formulti factor image feature registration and tracking may comprise: (1) aCamera Type Identification Module for identifying whether the source ofa received video feed is a static or a dynamic camera; (2) a LensDistortion Compensation Module for digitally correcting video feed imagedistortion; (3) a Camera Position Module for identifying the positionand orientation of the camera within a scene; (4) a 3-dimensional(hereinafter: 3D) Trajectory Tracking Module for assigning orientationvectors to dynamic element(s) in the scene and/or to the scene camera;(5) a Dynamic Element Analysis Module for identifying and trackingdynamic elements within the scene; (6) a Static Scene FeaturesRegistration Module for registering static elements in the scene basedon the motion of the tracked dynamic element(s) and/or based oninteractions between the tracked dynamic element(s) and the staticelements in the scene and/or for building a relative depth scene basedon the registration of images in the scene; and/or (7) a BehaviorCorrelation Module for correlating detected/measured/extracted motiondynamics of the dynamic element(s) in the scene to characterizedactions, and/or for recognizing specific human individuals based ontheir motion dynamic characteristics data/profile/records. According tosome embodiments, the system may further comprise: (8) an Acoustic SceneMapping Module for utilizing scattered acoustic splash-back to furthermap the scene.

According to some embodiments of the present invention the Camera TypeIdentification Module may: (1) extract dynamic and static image edgesalong two or more frames of the video feed; (2) register a group ofstatic edges in the scene that are repetitively identified (‘survive’)along several consecutive frames and wherein the static edges' positionsrelative to each other do not change over some period of time/frames;and/or (3) determine that the camera is static if the group of extractededges substantially align along consecutive frames, or that the camerais dynamic if the extracted edges show substantially inconsistentalignment along consecutive frames.

According to some embodiments of the present invention, the LensDistortion Compensation Module, when the lens distortion parameters areknown, may: (1) reference a known or estimated distortionprofile/model/function—of the camera's lens and/or of other opticalfeatures (e.g. mirrors) along the optical pass of the camera; and/or (2)digitally introduce an inverse distortion function/shift per image pixelor group of pixel to compensate for the distortion.

According to some embodiments, the Lens Distortion Compensation Module,when the lens distortion parameters are unknown, may use knownbackground edges along images to calculate distortion. In the case of astatic camera the Lens Distortion Compensation Module may: (1) use thedeformation of dynamic elements that cross the frame; and/or (2)identify geometries the scene background and compare them to expectedgeometries based on the location in the image (center/sides)—to generatean estimated distortion profile. In the case of a dynamic camera theLens Distortion Compensation Module may use edges in the scene thatdeform along the 3D movement of the camera to generate the estimateddistortion profile.

According to some embodiments of the present invention, the CameraPosition Module may identify the position/orientation of the camera bycorrelating the appearance of known background geometries and/ororientation to an estimated 3D projection of the ‘scene's floor’, and/orother scene background planes. According to some embodiments, fordynamic objects and/or elements, the Camera Position Module may computeand track the trajectory of the dynamic objects/elements by comparingthe change in appearance (e.g. size & location) as a function ofdisplacement (e.g. movement in a given direction) over multiple framesof the video feed.

According to some embodiments, for a static camera, the assumed scenefloor may be registered in accordance with straight background sceneedges and aligned with the computed movement trajectories of the dynamicobjects/elements. According to some embodiments, for a static camera,building a relative depth scene, or relative camera Field Of View (FOV)3D scene model, based on the registration of images in the scene mayinclude: (1) registering scene floor, and/or other scene planes, inaccordance with straight background scene edges; (2) correlating theappearance of objects having a known geometry and/or orientation to a2-dimensional (2D) projection(s) of the known geometry; (3) comparingthe relative sizes in FOV frame to: known geometry objects, dynamicelements/objects/entities in scene, possibly as a function of theirdisplacement (e.g. movement/shift in a given direction over floor);and/or (4) repeating 1-3 for at least some of the following framesand/or possibly comparing to prior frame(s) results and tuningaccordingly (e.g. averaging).

According to some embodiments, for a dynamic/moving camera, the CameraPosition Module may calculate 2D projection(s), of straight edges in thescene background found in X, Y, and Z, to find the floor's 3Dorientation. According to some embodiments, for a dynamic/moving camera,building a relative depth scene, or relative camera Field Of View (FOV)3D scene model, based on the registration of images in the scene mayinclude: (1) registering scene floor, and/or other scene planes, inaccordance with straight background scene edges; (2) correlating theappearance of objects having a known geometry and/or orientation to a 2Dprojection(s) of the known geometry; (3) comparing the relative sizes inFOV frame to: known geometry objects, dynamic elements/objects/entitiesin scene, possibly as a function of their displacement (e.g.movement/shift in a given direction over floor); and/or (4) repeating1-3 for at least some of the following frames, while performingtriangulations between multiple following/consecutive video feed framesfor further estimating/determining the positions of static/backgroundscene elements/features and/or sections thereof—based on their priorframe(s) positions and the current known positioning and/or orientationof the dynamic camera, and/or possibly comparing to prior frame(s)results and tuning accordingly (e.g. averaging).

According to some embodiments, the scene background 3D edgetransformation may be calculated for a single frame, out of each set offrames including a certain number of consecutive frames. Calculating thescene background 3D edge transformation for sets including a smallernumber of frames (e.g. every 5^(th) frame rather than every 10^(th)frame), or for every single frame, may be utilized to improve theresults of the transformation.

According to some embodiments of the present invention, the 3DTrajectory Tracking Module may utilize 3D trajectory tracking of dynamicelements in the video feed to assign them with orientation vectors.According to some embodiments, assigned orientation vectors may assistin later analysis of dynamic elements as part of their identification.Aligning the position of a given dynamic element to the 3D scene mayprovide the 3D position and movement direction of the dynamic element inevery frame.

According to some embodiments, based on the direction ofmovement/progress of the dynamic element, certain parts of the dynamicelements, and/or its ‘owning’ entity (e.g. human, dog), may be expectedto show in the frame (e.g. face the camera) and thus the tracking andidentification of the dynamic element and/or its ‘owning’ entity may beimproved (e.g. if the face of a human entity is expected a facedetection recognition algorithm/system may be triggered/operatedaccordingly; and/or its regular operation, or the operation of otherhuman analysis/recognition algorithms/functionalities, may beaccordingly changed).

According to some embodiments of the present invention, the DynamicElement Analysis Module may: (1) detect dynamic edges that may not beassociated with background edges identified in the scene; (2) groupdynamic edge vectors (e.g. edge vectors which move together); (3)measure relative motion dynamics between edge vectors of a (linked)group of dynamic edge vectors; (4) compare dynamic edge vector motiondynamics of the (linked) group of dynamic edge vectors to dynamicelement reference tables, as units and/or as chains; (5) identify thedynamic element of the (linked) group of dynamic edge vectors (e.g.human arm, human leg, dog leg); (6) identify the entity to which thedynamic element belongs according to entity reference tables (e.g.human, dog, car, horse) and/or, if the entity is identified as human orother recognizable entity type, recognize the specificindividual/specimen to which the dynamic element belongs according toindividual reference tables; (7) identify the orientation of theentity/individual within the video feed frame; and/or (8) generatetracking optimization parameters based on the identified orientation ofthe identified entity.

According to some embodiments of the present invention, the Static SceneFeatures Registration Module, as part of characterizing the parametersof static scene elements, may: (1) track the motion of the dynamicelement(s) in the scene; (2) identify reoccurring geometricalshapes/forms/paths associated with the motions of each of the dynamicelements tracked in the scene; and (3) infer the general shapes andpositions of static elements in the scene. According to someembodiments, inferred shapes and positions of static elements may beregistered to a 3D modeling of the static scene, and/or registered aspart of a dynamic scene map.

According to some embodiments, the Static Scene Features RegistrationModule, as part of identifying the boundaries of static scene elements,may: (1) track the motion of the dynamic element(s) in the scene; (2)identify reoccurring interactions and/or intersections of the dynamicelements tracked in the scene with static elements (e.g. of knownshapes/positions, inferred as part of characterizing the parameters ofstatic scene elements); and (3) infer the boundaries/borders of staticelements in the scene. According to some embodiments, inferredboundaries/borders of static elements may be registered to a 3D modelingof the static scene, and/or registered as part of a dynamic scene map.

According to some embodiments, the Static Scene Features RegistrationModule, as part of estimating the dimensions of static scene elements,may: (1) track the motion of the dynamic element(s) in the scene; (2)identify the relative positions of the tracked dynamic elements inrelation to the static elements (e.g. of knownshapes/positions/boundaries, inferred as part of characterizing theparameters of static scene elements and/or identifying the boundaries ofstatic scene elements); and (3) infer the dimensions/sizes of the staticelements in the scene in relation to the dimensions/sizes of the trackeddynamic elements. According to some embodiments, one or moreknown/calculated/estimated actual dimensions of one or more of thedynamic elements in the scene (e.g. derived based on the individualidentification of the dynamic entity to which the dynamic elementbelongs—as further described hereinafter) may be used tocalculate/estimate dimensions of static elements in the scene at leastpartially based on the inferred dimensions/sizes ratio—and vice versa(known static elements dimensions used to find sizes of dynamicelements). According to some embodiments, inferred dimensions/sizes ofstatic elements may be registered to a 3D modeling of the static scene,and/or registered as part of a dynamic scene map.

According to some embodiments, interactions and/or intersections of thedynamic elements tracked in the scene with static elements may includeany type of visible/identifiable contact or appeared contact, multiplevisible contacts or appeared contacts, and/or delayed or prolongedcontact or appeared contact—between dynamic element(s) in the scene anda suspected static element.

For example: more than two static halts/rests of the edge of a dynamicelement, and/or the edge of part thereof, along the same straight linemay indicate an edge or boundary of a static element; more than threestatic halts/rests of the edge of a dynamic element, and/or the edge ofpart thereof, across the same plane may indicate a surface boundary of astatic element; multiple static halts/rests of the edge of a dynamicelement, and/or the edge of part thereof, across the same plane may‘color’ the plane of a static element (e.g. an object in the scene) withdynamic element ‘contact’ points, thus defining its shape (e.g. areacovered with contact spots) and edges (e.g. boundary between contactspots covered area and the rest of the associated plane).

According to some embodiments, the Static Scene Features RegistrationModule may reference a ‘known geometry objects’ table or database andretrieve geometrical data that may be relevant to characterizing theparameters, identifying the boundaries, and/or estimating thedimensions, of static elements partially identified (e.g. to enablereferencing) in the scene.

According to some embodiments of the present invention, the BehaviorCorrelation Module, as part of recognizing an identified entity type,may: (1) build a profile for at least some of the dynamic elements basedon the consolidation of the entity-type/individual motion dynamics ofthe tracked element(s) and its biometric features (e.g. size,dimensions); and/or (2) compare a profile of a tracked dynamic edgevector motion dynamics, and its biometric features, to IndividualReference Tables (other profiles), pre-defined in the system data base,or, assign a new identity reference table (new profile).

According to some embodiments, the Behavior Correlation Module, as partof recognizing a specific behavior, and based on the identified entitytype (e.g. dog, human) may: (1) select a table to correlate the measuredmotion dynamics to a characterized action (e.g. person walking, personfalling, dog jumping); and (2) correlate the measured motion dynamics ofthe tracked dynamic element with entries in the selected table,correlating measured motion dynamics to a characterized action of theidentified entity.

According to some embodiments of the present invention, the AcousticScene Mapping Module, as part of actively mapping/profiling a staticscene and assigning 3D depth values to static elements within the scene,may use acoustic backsplash generated by the camera's speaker/s andcaptured by the camera's microphone to assign the estimated distancesand dimensions of scattered elements in the acquired scene, whileassigning real world depth values to the scene's respective 3D map.According to some embodiments, acoustic backsplash based sceneelement(s) distances from the camera may be allocated to elementsvisible within scene images of the video feed.

According to some embodiments, the acoustic scene mapping process mayrequire a channel sounding between speaker and mic process as a precalibration phase, for specific cameras. According to some embodiments,the use of stereo speakers may be utilized as a triangulation meansenabling a substantially exact positioning of elements in the scene.

According to some embodiments, dynamic objects/elements/entities passingthrough the scene may trigger the remapping of the scene, wherein thestatic scene depth map is subtracted from the remapped scene to extractdynamic object/element/entity depth values, assigned to a dynamic objecton the image plane.

According to some embodiments, as part of a passive event detectionprocess, the Acoustic Scene Mapping Module may: (1) monitor the scene'saudio for acoustic bursts indicating an event; (2) analyze thecorresponding video feed section for a visual indication of the eventsource; and/or (3) calculate the time difference between the visualevent indication and the its acoustic microphone pickup instance, whichtime difference is indicative of the distance traveled by the acousticburst from the location of the event within the scene to the camera'smicrophone.

According to some embodiments of the present invention, known 3D scenefeatures, along with image processing datasets sampled along consecutiveframes of the video feed (e.g. color, texture, known shapes, logos,known scenes) may be utilized to estimate scene contexts and may be usedto optimize the system's context and feature extraction capabilities,from the video feed. For example, based on the cross-correlation ofstatic and dynamic data sets, scene contexts may be estimated. Suchexemplary cross-correlations may include, but are not limited to: movingwater+sand=beach; green grass+trees=park; statue of liberty=NYC; and thelike.

In FIG. 1A there is shown a high level illustration of an exemplaryscene capture and characterization system, in accordance with someembodiments of the present invention. A video camera feed from a sceneis compensated for lens and optical equipment distortions based on thereference of lens distortion profiles (e.g. distortion matrix) and/oridentification of objects of known geometry distorted over multiplevideo feed images/frames. The video feed is analyzed for theidentification and tracking of dynamic elements. Identified dynamicelements are characterized based on the reference of known dynamicelements, entities, individuals, and motions. The identification of thedynamic elements is supplemented based on the registration of staticscene features, possibly of know object geometry, to assist the trackingof the dynamic elements based on interactions in the scene betweendynamic elements and registered static objects. Compensated data,analysis data and supplemented ‘static’ data are utilized for theconstruction of a dynamic scene map.

In FIG. 1B there is shown a flowchart of the main steps executed by anexemplary scene capture and characterization system, in accordance withembodiments of the present invention.

In FIG. 2A there is shown a functional block diagram of an exemplaryvideo feed or video stream processing engine adapted to characterize andoptionally meta-tag a video feed/stream, in accordance with embodimentsof the present invention. Live or pre-recorded video feed/stream isreceived by the processing engine. A Dynamic Edge Detector identifiesand tracks dynamic edges in the video feed. An Edge Vector GroupingLogic groups the identified edge vectors. A Vector Group Orientation andTrajectory Identifier finds the trajectory and orientation of the edgevector groups in the scene. An Intra Vector Group Relative DynamicsAnalyzer extracts edge vector groups' dynamics data. A Dynamic ElementComparison and Identification Logic references a Dynamic ElementReference Table for finding the types of dynamic elements identified inthe scene. A Dynamic Element Entity Identification Logic references aDynamic Entity Reference Table for finding the type of dynamic entitiesidentified in the scene. A Dynamic Element Unique IndividualIdentification Logic references a Unique Individual Reference Table forfinding the individual details of similar entities identified in thescene. An Identified Entity Visual Signature Assigning Logic visuallysigns dynamic entities in the scene for improved tracking, an IdentifiedEntity Dynamic Action Characterization Logic references a Motion toAction Correlation Table for finding the type of dynamic actionsperformed in the scene.

In FIGS. 2B-2G there are shown diagrams exemplifying the main stepsexecuted by an exemplary video feed or video stream processing engineadapted to characterize and optionally meta-tag a video feed/stream, inaccordance with embodiments of the present invention. The exemplifiedsteps shown include: a static/dynamic camera type decision process (2B);a lens distortion compensation process (2C); a camera positioning withinscene process (2D); a dynamic entity 3D orientation and trajectoryvectors estimation process (2E); a dynamic element identification andtracking process (2F); and a dynamic entity recognition and behavioranalysis process (2G).

In FIG. 3A there is shown a flowchart of the main steps of an exemplaryimaging path (lens or other elements) distortion compensation method, inaccordance with embodiments of the present invention.

In FIG. 3B there are shown the effects of the exemplary distortioncompensation method, including schematic illustrations of: a raw image;an image with lines indicating distortion bending vectors in differentregions; a set of calculated inverse bending vectors to compensate forthe distortion; and a clean and compensated image.

In FIG. 4 there is shown a flowchart of the main steps of an exemplarystatic scene element (i.e. background) registration method, including:following straight lines, checking intersections with dynamic elements,and iteratively completing a 3D map from multiple images at differentperspectives, in accordance with embodiments of the present invention.

In FIG. 5 there is shown a flowchart of the main steps of an exemplarydynamic elements detection and tracking method within a video feed of ascene, and the identification of the entity types and individuals towhich the dynamic elements belong, in accordance with embodiments of thepresent invention.

In FIG. 6 there is shown a flowchart of the main steps of an exemplarymotion characterization method, including the choosing/selection of anentity specific motion to action table, in accordance with embodimentsof the present invention.

In FIG. 7A there is shown a flowchart of the main steps of an exemplaryacoustic splash back method, in accordance with embodiments of thepresent invention.

In FIG. 7B there are shown diagrams exemplifying the main steps executedas part of an exemplary acoustic splash back method, including: scenehaving sound output; scene having sound bouncing; detected return; andscene with items tagged by estimated distance.

In FIG. 8 there is shown a flowchart of the main steps of an exemplaryevent distance detection method, including: hearing an acoustic burst;looking at corresponding video; feed; and counting delta in offsetbetween seeing event and hearing event, in accordance with embodimentsof the present invention.

According to some embodiments of the present invention, a method ofregistering one or more features within an image frame of a video streammay comprise: executing an edge detection algorithm for substantiallyeach of a consecutive series of image frames to detect one or moredynamic edges across the consecutive series of image frames; trackingand parameterizing movement of detected dynamic edges across theconsecutive series of image frames to generate a set of motion dynamicparameters; and correlating the motion dynamic parameters with a subjecttype and designating a pixel group adjacent to the one or more dynamicedges with the subject type.

According to some embodiments of the present invention, the method mayfurther comprise: accessing a subject type specific motion data-storeand correlating the motion dynamic parameters with a record of thedata-store, wherein the record indicates a specific motion type;accessing an individual recognition specific individual data-store andcorrelating the motion dynamic parameters with a record of thedata-store, wherein the record indicates a specific individual;identifying background elements in the video stream image frame;digitally correcting optical distortions caused by movements of animaging device acquiring the video feed; digitally correcting opticaldistortions caused by imaging device lens having a known lensdistortion; digitally correcting optical distortions caused by imagingdevice lens having an unknown lens distortion; executing an edgedetection algorithm to detect one or more static edges of staticelements across the consecutive series of image frames, and designatinga static pixel group adjacent to the one or more of the static edgeswith a specific static element from within the static elements, when thevideo feed source is a static video camera; and/or executing an edgedetection algorithm to detect one or more static edges of staticelements across the consecutive series of image frames and designating aregistered static pixel group adjacent to the one or more of the staticedges with a specific static element from within the static elements,when the video feed source is a dynamic video camera.

According to some embodiments of the present invention, a method ofestimating distances of one or more features within an image frame of alive video feed may comprise: identifying two or more objects within theimage frame; estimating a relative distance order of identified objects;emitting an acoustic burst from a source at, or in proximity to, thevideo feed; detecting acoustic echo patterns and estimating distance ofeach pattern based on acoustic time of flight; and correlating at leastone acoustic echo pattern estimated distance with an identified objectwithin the image frame.

According to some embodiments of the present invention, a method ofestimating a distance of one or more features within an image frame ofan audio-video feed may comprise: detecting an audio burst starting onan audio channel of an audio-video feed, wherein a rising edge of theaudio burst is associated with a first timestamp of the audio-videofeed; identifying within the audio-video feed a video frame, acquiredbefore the first timestamp, including an object-action which was asource of the audio burst, wherein an “object-action” is an actionassociated with one or more specific scene objects having an acousticand a visual signature; calculating a temporal distance betweenacquisition of the frame with the object-action and the first timestamp;and estimating a physical distance of the object-action from a sourcedevice of the audio-video feed by multiplying an estimated speed ofsound by the calculated temporal distance.

According to some embodiments of the present invention, a system forregistering one or more features within an image frame of a video streammay comprise: a dynamic edge detector for executing an edge detectionalgorithm for substantially each of a consecutive series of image framesto detect one or more dynamic edges across the consecutive series ofimage frames; a dynamic edge vector dynamics analyzer for tracking andparameterizing movement of detected dynamic edges across the consecutiveseries of image frames to generate a set of motion dynamic parameters; adynamic entity identification logic for correlating the motion dynamicparameters with a subject type; and a dynamic entity signature assigninglogic for designating a pixel group adjacent to the one or more dynamicedges with the subject type.

According to some embodiments of the present invention, the system mayfurther comprise: a dynamic action characterization logic for accessinga subject type specific motion data-store and correlating the motiondynamic parameters with a record of the data-store, wherein the recordindicates a specific motion type; an individual recognition specificindividual logic for accessing an individual recognition specificindividual data-store and correlating the motion dynamic parameters witha record of the data-store, wherein the record indicates a specificindividual; a static feature registration module for identifyingbackground elements in the video stream image frame; a camera type andlens distortion compensation module for digitally correcting opticaldistortions caused by movements of an imaging device acquiring the videofeed; a camera type and lens distortion compensation module fordigitally correcting optical distortions caused by an imaging devicelens having a known lens distortion; a camera type and lens distortioncompensation module for digitally correcting optical distortions causedby an imaging device lens having an unknown lens distortion; a staticedge detector for executing an edge detection algorithm forsubstantially each of a consecutive series of image frames to detect oneor more static edges across the consecutive series of image frames, anda static element signature assigning logic for designating a staticpixel group adjacent to the one or more of the static edges with aspecific static element from within the static elements, when the videofeed source is a static video camera; and/or a static edge detector forexecuting an edge detection algorithm for substantially each of aconsecutive series of image frames to detect one or more static edgesacross the consecutive series of image frames and a static elementsignature assigning logic for designating a registered static pixelgroup adjacent to the one or more of the static edges with a specificstatic element from within the static elements, when the video feedsource is a dynamic video camera.

According to some embodiments of the present invention, a video feedprocessing system may comprise: interface circuits to receive one ormore two dimensional (“2D”) video feeds; and processing circuitryexecuting instructions to: track and characterize moving elementspresent within the scene video feed; identify and characterize staticelements or objects present within the scene video feed; define a threedimensional (“3D”) coordinate set for the scene within boundaries of thescene video feed, wherein defining a three dimensional (“3D”) coordinateset includes identifying one or more substantially straight edges,indicative of the X Y or Z axes of the scene and mapping the positionsof the identified and characterized static elements or objects inrelation to the identified straight edges; derive coordinates andorientation of the video feed source within the scene video feedcoordinate frame; update a scene element inventory with characterizationinformation relating to identified static elements, wherein updating isperformed responsive to either newly derived characterizationinformation or to refinement of existing characterization information;detect from within the tracked and characterized moving elements one ormore humans in the scene video feed; and/or characterize and log anevent associated with a detected human.

According to some embodiments, static element characterizationinformation for a static element may include one or more of: (a)estimated dimensions of an element; (b) an element category; (c)estimated coordinates of one or more points on the static element; (d) arelationship with other elements in the scene; and/or (e) scene presenceparameters. According to some embodiments, characterization of a givenstatic element may be at least partially derived from detectedinteractions between the given static element and a tracked movingelement. According to some embodiments, scene boundary coordinates maybe at least partially derived from detected interactions between asurface and a tracked moving element. According to some embodiments,characterization of a moving element detected as a human may include oneor more of: (a) a human category; (b) a human's recognized identity; (c)a human's group affiliation or membership; and (d) a human'srelationship to other humans identified in the scene.

According to some embodiments, the processing circuitry may be furtheradapted to: detect from within the tracked and characterized movingelements one or more non-human entities in the scene video feed, andwherein non-human entities may be selected from a group consisting of:animals, mechanically moving devices, static objects or plants affectedby their environment, shadows, and displayed or projected images; andcharacterize and log an event associated with a detected non-humanentity.

According to some embodiments, the system may further comprise anecho-ranging assembly in proximity with the video feed source and mayinclude one or more acoustic emitters and one or more acousticdetectors. According to some embodiments, the echo-ranging assembly mayinclude a combination of at least: one of the emitters and two of thedetectors, or one of the detectors and two of the emitters, that may beutilized by the processing circuitry to perform stereo acoustictriangulation and derive directional information pertaining to thesource of an acoustic flashback detected by at least one of the acousticdetectors. According to some embodiments, the acoustic emitter and/orthe acoustic detector may be multi-directional and the processingcircuitry may correlate a distance associated with a round-trip time ofeach of a set of detected echoes with each of a set of visuallyidentified static elements or each of a set of tracked moving objects.According to some embodiments, the processing circuitry may generate areferences echo map when no moving objects are detected with the scene.According to some embodiments, the processing circuitry may generate areferences echo map when one or more moving objects are detected withinthe scene. According to some embodiments, deriving video feed sourcecoordinates and orientation may include comparing an appearance of agiven identified static element within the video feed against referencedata corresponding to the identified object.

According to some embodiments of the present invention, some or all ofthe embodiments and/or features of a system for registering one or morefeatures within an image frame of a video stream described above, mayinclude interface circuits adapted to receive the video feed as one ormore three dimensional (“3D”) video feeds from any 3D camera type knowntoday, or to be devised in the future.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents will now occur to those skilled in the art. It is,therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the true spiritof the invention.

The invention claimed is:
 1. A video feed processing system comprising:interface circuits to receive one or more two dimensional (“2D”) videofeeds; processing circuitry executing instructions to: track andcharacterize moving elements present within the scene video feed;identify and characterize static elements or objects present within thescene video feed; define a three dimensional (“3D”) coordinate set forthe scene within boundaries of the scene video feed, wherein defining athree dimensional (“3D”) coordinate set includes identifying one or moresubstantially straight edges, indicative of the X Y or Z axes of thescene and mapping the positions of the identified and characterizedstatic elements or objects in relation to the identified straight edges;derive coordinates and orientation of the video feed source within thescene video feed coordinate frame; update a scene element inventory withcharacterization information relating to identified static elements,wherein updating is performed responsive to either newly derivedcharacterization information or to refinement of existingcharacterization information; detect from within the tracked andcharacterized moving elements one or more humans in the scene videofeed; characterize and log an event associated with a detected human;and further comprising an echo-ranging assembly in proximity with thevideo feed source and including one or more acoustic emitters and one ormore acoustic detectors.
 2. The system according to claim 1, whereinstatic element characterization information for a static elementincludes one or more of: (a) estimated dimensions of an element; (b) anelement category; (c) estimated coordinates of one or more points on thestatic element; (d) a relationship with other elements in the scene; and(e) scene presence parameters.
 3. The system according to claim 1,wherein characterization of a given static element is at least partiallyderived from detected interactions between the given static element anda tracked moving element.
 4. The system according to claim 1, whereinscene boundary coordinates are at least partially derived from detectedinteractions between a surface and a tracked moving element.
 5. Thesystem according to claim 1, wherein characterization of a movingelement detected as a human includes one or more of: (a) a humancategory; (b) a human's recognized identity; (c) a human's groupaffiliation or membership; and (d) a human's relationship to otherhumans identified in the scene.
 6. The system according to claim 1,wherein the processing circuitry is further adapted to: detect fromwithin the tracked and characterized moving elements one or morenon-human entities in the scene video feed, and wherein non-humanentities are selected from a group consisting of: animals, mechanicallymoving devices, static objects or plants affected by their environment,shadows, and displayed or projected images; and characterize and log anevent associated with a detected non-human entity.
 7. The systemaccording to claim 1, wherein said echo-ranging assembly includes acombination of at least: one of said emitters and two of said detectors,or one of said detectors and two of said emitters, utilized by saidprocessing circuitry to perform stereo acoustic triangulation and derivedirectional information pertaining to the source of an acousticflashback detected by at least one of said acoustic detectors.
 8. Thesystem according to claim 1, wherein said acoustic emitter and or saidacoustic detector are multi-directional and said processing circuitrycorrelates a distance associated with a round-trip time of each of a setof detected echoes with each of a set of visually identified staticelements or each of a set of tracked moving objects.
 9. The systemaccording to claim 1, wherein said processing circuitry generates areferences echo map when no moving objects are detected with the scene.10. The system according to claim 1, wherein said processing circuitrygenerates a references echo map when one or more moving objects aredetected within the scene.
 11. The system according to claim 1, whereinderiving video feed source coordinates and orientation includescomparing an appearance of a given identified static element within thevideo feed against reference data corresponding to the identifiedobject.
 12. A method of video feed processing, said method systemcomprising: electronically receiving one or more two dimensional (“2D”)video feeds; algorithmically tracking and characterizing moving elementspresent within the scene video feed; algorithmically identifying andcharacterizing static elements or objects present within the scene videofeed; defining a three dimensional (“3D”) coordinate set for the scenewithin boundaries of the scene video feed, wherein defining a threedimensional (“3D”) coordinate set includes identifying one or moresubstantially straight edges, indicative of the X Y or Z axes of thescene and mapping the positions of the identified and characterizedstatic elements or objects in relation to the identified straight edges,wherein mapping the positions of the identified and characterized staticelements or objects includes automatically echo-ranging one or more ofthe identified and characterized static elements or objects; derivingcoordinates and orientation of the video feed source within the scenevideo feed coordinate frame; updating a scene element inventory withcharacterization information relating to identified static elements,wherein updating is performed responsive to either newly derivedcharacterization information or to refinement of existingcharacterization information; detecting from within the tracked andcharacterized moving elements one or more humans in the scene videofeed; and characterizing and logging an event associated with a detectedhuman.
 13. The method according to claim 12, wherein static elementcharacterization information for a static element includes one or moreof: (a) estimated dimensions of an element; (b) an element category; (c)estimated coordinates of one or more points on the static element; (d) arelationship with other elements in the scene; and (e) scene presenceparameters.
 14. The method according to claim 12, whereincharacterization of a given static element is at least partially derivedfrom detected interactions between the given static element and atracked moving element.
 15. The method according to claim 12, whereinscene boundary coordinates are at least partially derived from detectedinteractions between a surface and a tracked moving element.
 16. Themethod according to claim 12, wherein characterization of a movingelement detected as a human includes one or more of: (a) a humancategory; (b) a human's recognized identity; (c) a human's groupaffiliation or membership; and (d) a human's relationship to otherhumans identified in the scene.
 17. The method according to claim 12,further including detecting from within the tracked and characterizedmoving elements one or more non-human entities in the scene video feed,and wherein non-human entities are selected from a group consisting of:animals, mechanically moving devices, static objects or plants affectedby their environment, shadows, and displayed or projected images; andcharacterize and log an event associated with a detected non-humanentity.